`yarp-vicon-bridge`

Maintainers

This repository is maintained by:


	@Nicogene

Description

The yarp-vicon-bridge is a YARP device working as interface between a Vicon setup and YARP.

Using this device, it is possible to retrieve the Vicon markers information in the form of transformation matrices, i.e. a 3D vector for translation and a quaternion for the rotation.

Dependencies

Get YARP from the official GitHub repository
Get ViconDataStreamSDK from the official Vicon website

Installation

Linux

Setup the ~/.bash_aliases

export ViconSDK_DIR=location/of/the/ViconSDK/libraries
export LD_LIBRARY_PATH=${LD_LIBRARY_PATH}:${ViconSDK_DIR}

Configure and make

$ git clone https://github.com/robotology/yarp-vicon-bridge.git
$ cd yarp-vicon-bridge
$ mkdir build && cd build
$ cd build 
$ ccmake ..
$ make install

Check if the device has been installed correctly
```
yarpdev --list | grep vicon
```

Windows

Setup the environment variables
```
  setx ViconSDK_DIR "location/of/the/ViconSDK/libraries"
  setx PATH=%PATH%;ViconSDK_DIR
```
💡 You can also set the environment variables using a GUI called Rapid Environment Editor

Clone this repository

git clone https://github.com/robotology/yarp-vicon-bridge.git

Configure and build the project using the CMake GUI (:warning: set x64 for generator)
Build the project either using Visual Studio or the command line:
```
cmake --build . --config Release --target install
```

How to run the `yarp-vicon-bridge`

Using the Vicon setup

Run a yarpserver in a terminal

Open a second terminal and start a transformServer device:

yarpdev --device transformServer --ROS::enable_ros_publisher 0 --ROS::enable_ros_subscriber 0

Open a third terminal and start a yarp-vicon-bridge device:
```
yarpdev --device vicon --hostname "192.168.10.2"
```
⚠️ the default hostname is 192.168.10.2 (see Vicon Network Cards Settings) but some network test might be needed to find out the port where the Vicon output is actually streamed.

Using the Vicon setup and R1

Make sure that roscore is running on r1-base
Make sure that yarpserver --ros is running on r1-base
Open a terminal and type:
```
$ rostopic echo \tf
```
Open another terminal and start a transformServer device:
```
$ yarpdev --from tfServer.ini
```

where tfServer.ini is:

device  transformServer
transforms_lifetime 0.500
[ROS]
enable_ros_publisher 1
enable_ros_subscriber 0

Open another terminal and start a yarp-vicon-bridge device:
```
$ yarpdev --device vicon --hostname "192.168.10.2"
```
⚠️ the default hostname is 192.168.10.2 (see Vicon Network Cards Settings) but some network test might be needed to find out the port where the Vicon output is actually streamed.

aikolina/yarp-vicon-bridge

yarp-vicon-bridge